private void CheckIfPlayerInSight(Vector3 playerPos)
{
float distToPlayer = Vector3.Distance(transform.position, playerPos);
// Only check if player is in sight if distance to player is less than threshold
if (distToPlayer <= CHECK_DIST_TO_PLAYER)
{
// Bit shift the index of the layer (8) to get a bit mask
int layerMask = 1 << 8;
// This would cast rays only against colliders in layer 8.
// But instead we want to collide against everything except layer 8. The ~ operator does this, it inverts a bitmask.
layerMask = ~layerMask;
RaycastHit hit;
if (Physics.Raycast(transform.localPosition, playerPos - transform.localPosition, out hit, CHECK_DIST_TO_PLAYER, layerMask, QueryTriggerInteraction.Ignore) &&
hit.transform.name.Equals(Player.PLAYER_OBJ_NAME))
{
Debug.DrawRay(transform.localPosition, playerPos - transform.localPosition, Color.green);
pursuePlayerDirectly = true;
currentWaypoint = null;
currentWaypointIndex = 0;
}
else
{
Debug.DrawRay(transform.localPosition, playerPos - transform.localPosition, Color.red);
pursuePlayerDirectly = false;
FindClosestWaypoint();
}
}
}
private void MoveToDestination()
{
if (destination == null && Path.Waypoints != null)
{
destination = FindClosestWayPoint();
}
if (destination != null && !IsDisabled)
{
if (Vector3.Distance(transform.position, destination.Position) < DIST_TO_DESTINATION)
{
destination = FindNextDestination();
}
Vector3 target = destination.Position;
Vector3 localTarget = transform.InverseTransformPoint(target);
float angle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;
// Slow down for turns
speed = Mathf.Abs(angle) > TURN_SLOWDOWN_THRESHOLD ? TURN_SPEED : STRAIGHT_SPEED;
Vector3 eulerAngleVelocity = new Vector3(0, angle, 0);
Quaternion deltaRotation = Quaternion.Euler(eulerAngleVelocity * Time.deltaTime * ROT_TORQUE_MOD);
Rigidbody.MoveRotation(Rigidbody.rotation * deltaRotation);
}
else
{
speed = 0;
Brake(true);
}
Move(speed, 0);
}
private PathWayPoint FindNextDestination()
{
PathWayPoint dest = destination;
List <PathWayPoint> potentialNewDestinations = new List <PathWayPoint>();
foreach (PathWayPoint wp in destination.ConnectedWayPoints)
{
// Check to see if vehicle is facing connected waypoint
float dot = Vector3.Dot(transform.forward, (wp.Position - transform.localPosition).normalized);
if (dot >= nextPotentialWaypointDot)
{
// Set this back to default, for next waypoint decision
nextPotentialWaypointDot = DEF_POTENTIAL_DEST_DOT;
potentialNewDestinations.Add(wp);
}
}
// Determine next destination from given potential ones
if (potentialNewDestinations.Count > 1)
{
int index = Random.Range(0, potentialNewDestinations.Count);
dest = potentialNewDestinations[index];
}
else if (potentialNewDestinations.Count == 1)
{
// If only one in potential just grab it
dest = potentialNewDestinations[0];
}
else
{
// Try to find a suitable next waypoint, but with a wide DOT threshold this time
nextPotentialWaypointDot += POTENTIAL_DEST_INCREMENT;
FindClosestWayPoint();
}
return(dest);
}
// Goal is to find the closest waypoint also in our facing direction
private PathWayPoint FindClosestWayPoint()
{
PathWayPoint dest = null;
foreach (PathWayPoint wp in Path.Waypoints)
{
if (dest == null)
{
dest = wp;
}
if (DEST_FIND_DOT_THRESHOLD > Vector3.Dot(transform.forward, (dest.Position - transform.localPosition).normalized))
{
// If current destination is behind truck select this one automatically to avoid back tracking
dest = wp;
}
// Check to see if vehicle is facing waypoint
float dot = Vector3.Dot(transform.forward, (wp.Position - transform.localPosition).normalized);
if (dot > DEST_FIND_DOT_THRESHOLD)
{
// Check to see waypoint is closer than currently selected destination
float curDist = Vector3.Distance(transform.position, dest.Position);
if (curDist > Vector3.Distance(transform.position, wp.Position))
{
dest = wp;
}
}
}
return(dest);
}
private void DecrementDestination()
{
if (CurrentDestinationIndex == 0)
{
CurrentDestinationIndex = Path.Waypoints.Length - 1;
}
else
{
CurrentDestinationIndex--;
}
Destination = Path.Waypoints[CurrentDestinationIndex];
}
private void IncrementDestination()
{
if (Destination.lastWayPoint)
{
CurrentDestinationIndex = 0;
}
else
{
CurrentDestinationIndex++;
}
Destination = Path.Waypoints[CurrentDestinationIndex];
}
private void MoveToDestination()
{
// Check to see if player is closest destination
Vector3 playerPos = player.transform.position;
CheckIfPlayerInSight(playerPos);
if (!pursuePlayerDirectly &&
Vector3.Distance(transform.position, currentWaypoint.Position) < DIST_TO_DESTINATION)
{
// Increment player path if available
if (currentWaypointIndex - 1 >= 0)
{
currentWaypointIndex--;
this.currentWaypoint = player.PlayerTrailPath.Waypoints[currentWaypointIndex];
}
else
{
pursuePlayerDirectly = true;
currentWaypoint = null;
currentWaypointIndex = 0;
}
}
Vector3 target = pursuePlayerDirectly ? playerPos : currentWaypoint.Position;
Vector3 localTarget = transform.InverseTransformPoint(target);
float angle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;
// Slow down for turns
speed = Mathf.Abs(angle) > TURN_SLOWDOWN_THRESHOLD ? TURN_SPEED : STRAIGHT_SPEED;
if (sensor.Contact != null && !sensor.Contact.tag.Equals(Player.PLAYER_OBJ_NAME))
{
float xPosOfContact = sensor.Contact.transform.position.x;
angle += xPosOfContact > transform.localPosition.x ? -CONTACT_TURN_MOD : CONTACT_TURN_MOD;
}
Vector3 eulerAngleVelocity = new Vector3(0, angle, 0);
Quaternion deltaRotation = Quaternion.Euler(eulerAngleVelocity * Time.deltaTime);
Rigidbody.MoveRotation(Rigidbody.rotation * deltaRotation);
}
private void FindClosestWaypoint()
{
if (player.PlayerTrailPath != null &&
player.PlayerTrailPath.Waypoints != null)
{
// Determine Closest Destination
for (int i = 0; i < player.PlayerTrailPath.Waypoints.Length; i++)
{
if (this.currentWaypoint == null)
{
currentWaypointIndex = i;
this.currentWaypoint = player.PlayerTrailPath.Waypoints[currentWaypointIndex];
}
float curDist = Vector3.Distance(transform.position, this.currentWaypoint.Position);
if (curDist > Vector3.Distance(transform.position, player.PlayerTrailPath.Waypoints[i].Position))
{
currentWaypointIndex = i;
this.currentWaypoint = player.PlayerTrailPath.Waypoints[currentWaypointIndex];
}
}
}
}
void Start()
{
// Rotate towards destination
Destination = Path.Waypoints[CurrentDestinationIndex];
transform.LookAt(Destination.transform);
}
